Computing adaptive backstepping control law using computer algebra systems

Author

Pozo, Francesc ; Ikhouane, Fayçal

Author_Institution

Departament de Matematica Aplicada III, Escola Universilaria d´´Enginyeria Tecnica Ind. de Barcelona

fYear

2006

fDate

4-6 Oct. 2006

Firstpage

403

Lastpage

407

Abstract

The backstepping-based adaptive tuning functions design is a recursive control scheme for uncertain systems that ensures reasonably good stability and performance properties of the dosed loop. However, the complexity of the control algorithm makes inevitable the use of digital computers to perform the calculation of the control law. To this end, we use the computer algebra system namely Maple. The symbolic manipulation of Maple provides an excellent platform to derive this recursive algorithm

Keywords

adaptive control; process algebra; recursive functions; symbol manipulation; Maple; adaptive backstepping control law; backstepping-based adaptive tuning; computer algebra system; control algorithm complexity; digital computer; recursive control algorithm; symbolic manipulation; uncertain system; Adaptive control; Algebra; Backstepping; Control design; Control system analysis; Control systems; Mathematics; Nonlinear control systems; Nonlinear systems; Programmable control;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, 2006 IEEE

Conference_Location

Munich

Print_ISBN

0-7803-9797-5

Electronic_ISBN

0-7803-9797-5

Type

conf

DOI

10.1109/CACSD-CCA-ISIC.2006.4776680

Filename

4776680